Nicolae Dumitru - Academia.edu (original) (raw)

Papers by Nicolae Dumitru

Research paper thumbnail of Virtual Prototyping of a Leg Exoskeleton for Human Persons with Neuromotor Deficiencies

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Research paper thumbnail of Simulation of a Pressure Controlled Hose Type Joint Using F.E.M

The paper presents a hose type joint which is controlled by pneumatic pressure. The joint is made... more The paper presents a hose type joint which is controlled by pneumatic pressure. The joint is made by a special type of hose with 2 or 4 pneumatic chambers. The hose has a particular construction in order to assure a strength discontinuity of the hose structure. That feature permits the bending of the hose proportional with the pneumatic pressure value.

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Research paper thumbnail of Design and Simulation of a Mechanism for Human Leg Motion Assistance

Advanced Materials Research, Oct 1, 2014

Legs are the mostimportant elements for accomplishing human physical work includingtransportation... more Legs are the mostimportant elements for accomplishing human physical work includingtransportation or displacement. In this paper, a new mechanism for human legmotion assistance has been proposed for rehabilitation purposes. The structureof human leg and its motions have been used as inspiration for design purposes.For a simple control algorithm, the proposed mechanism for the legs mustgenerate an ovoid path of the foot, by uniform rotating of actuating crank. Themechanism must generate an approximately linear trajectory of foot duringpropulsion. The resulting linkage is a single degree-of-freedom (DOF)mechanism, which exemplifies the shape and movement of a human leg. Theactuator of the mechanism is located in the upper portion of the linkagesimilar to it in a human leg. The mechanism is simulated and tested to verifythe proposed synthesis. A 3D model of the proposed system has been elaboratedin Solid Works®, booth for design and simulation purposes. Simulation resultsshow that the proposed mechanism performs movements similar to those of a humanleg. Maple and Adams software packages are used to simulate and validate the usabilityof the mechanism. The proposed mechanism demonstrates that a one DOF closedloop mechanical linkage can be designed to the shape and movement of the bipedhuman walking apparatus. The proposed mechanism is suitable for the fabricationof legged robots. Proportions of the linkage are estimated utilizinganthropometric measures of the human leg.

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Research paper thumbnail of Dynamic models to analyse the influence of the seat belt in a frontal collision

International Asia Conference on Informatics in Control, Automation and Robotics, Aug 28, 2017

Traffic accidents are influenced by various factors, yet, the highest impacting ones are related ... more Traffic accidents are influenced by various factors, yet, the highest impacting ones are related to vehicle impact speed and collision type. Also, passive vehicle safety systems play a significant role upon the injuries suffered by vehicle occupants. Under the circumstances, a particularly important aspect to consider when using such systems is the position of the vehicle's driver and its occupants. In what follows we embark upon an in-depth analysis in order to investigate the contact effects between the seat belt and the driver, under a dynamic regime. We set out to identify the variation of the kinematic and dynamic parameters for both the driver and the seat belt via comparative analyses between the normal position of the driver and some other out of position instances, considered as critical.

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Research paper thumbnail of Modular Knee Orthosis FEM Analysis from Kinematic Considerations

Springer eBooks, Aug 10, 2012

In this paper a locomotion system kinematic analysis is presented in order to obtain the knee mot... more In this paper a locomotion system kinematic analysis is presented in order to obtain the knee motion equations for a child walking. With these equations a modular knee orthosis with flexible elements was designed and simulated through finite elements analysis with ADAMS. The whole human locomotion system is analyzed. Based on these results a modular knee orthosis prototype for a 7 years old child with locomotion disabilities was fabricated. The prototype was evaluated through experimental tests with CONTEMPLAS motion analysis equipment.

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Research paper thumbnail of Case Study Regarding a New Knee Orthosis for Children with Locomotion Disabilities

Springer eBooks, 2015

This research addresses to children locomotion system for designing special orthosis and prosthes... more This research addresses to children locomotion system for designing special orthosis and prosthesis mechanical systems. The research aim is to obtain the motion laws developed by a child locomotion system and with these, the knee joint connection forces will be obtained through an analytical method for walking activity. These parameters are useful for an orthotic system design of a 7 years old child. The research is based on an experimental analysis developed with ultra high-speed video equipment on 20 children and a dynamic analysis by using Newton-Euler method completed with Lagrange multipliers. The obtained dynamic parameters are used as input data for a new knee orthosis design. Virtual simulations are performed by using MSC Adams which validates a new knee orthosis prototype.

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Research paper thumbnail of Design and Motion Analysis of an Exoskeleton Robot for Assisting Human Locomotion

Mechanisms and machine science, Nov 10, 2020

In this paper, we present a new exoskeleton robot model designed to assist human locomotion. In t... more In this paper, we present a new exoskeleton robot model designed to assist human locomotion. In the first part of the paper are presented results concerning human gait motion analysis. The human gait experimental analysis is performed with goniometers sensors. In the second part of the paper are presented some structural solutions for exoskeleton robots, presented by first author in other published papers. Based on these achievements, new exoskeleton robot designs are proposed. The kinematic structure of the new robot is presented. The designed robot assures motion assistance for all the leg joints, and it is actuated with one drive. Based on this kinematic structure, the robot is modeled in the CAD design environment, SolidWorks, and the motion simulation is performed in the MSC.ADAMS simulation environment. The graphs of variation of the kinematic and dynamic parameters of the robot are presented. The exoskeleton motion results are compared with those from the human normal gait.

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Research paper thumbnail of Kinematic and Dynamic Study of a Mechanism for a Vehicle Front and Rear Stabilizer Bars

In this paper, a method is described for theoretical and experimental studies of a front and rear... more In this paper, a method is described for theoretical and experimental studies of a front and rear stabilizer bars used on vehicle steering and suspension systems. Based on the fatigue experimental tests performed on a special test-bed, a complex actuation mechanism from the test bed structure will be analyzed. This mechanism through his kinematic and dynamic structure assures complete conditions for simulating the dynamic behavior in a complex mode of the rear stabilizer bar used on a vehicle steering and suspension structures.

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Research paper thumbnail of Kinematic and Dynamic Analysis of a Mechanism for Assisting Human Locomotion

Atlantis highlights in engineering, 2023

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Research paper thumbnail of Design, Manufacture and Testing of a S Type Force Transducer

Applied Mechanics and Materials, Feb 1, 2020

This paper presents the methodology of designing a transducer for the experimental measurement of... more This paper presents the methodology of designing a transducer for the experimental measurement of forces. For this purpose, an elastic element of the shape of the letter "S" is designed and manufactured. The elastic element designed in SolidWorks is subjected to virtual testing, using the finite element method in ANSYS. After validating the results obtained considering the maximum values ​​of the stresses that appear for the nominal load, the experimental model of the transducer is realized. The central part of the elastic element behaves like a fixed double beam subjected to bend by the measuring force. On this beam are bonded strain gauge transducers, which measure the deformations produced by bending. The transducer is calibrated, in order to obtain the calibration constant, based on the obtained characteristic, that is, the dependence of the specific strain-deformation and force. The transducer thus constructed can be used in force measurement applications.

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Research paper thumbnail of A leg exoskeleton command unit for human walking rehabilitation

This paper addresses attention to a low-cost command and control unit design which will be used o... more This paper addresses attention to a low-cost command and control unit design which will be used on a leg exoskeleton especially designed for persons with neuro-locomotor disorders. The research aim is to obtain an user friendly interface for programming two linear actuators used on a leg exoskeleton structure. For achieving this, experimental analyses were performed in order to validate the leg exoskeleton prototype and also the proposed command and control electronic unit.

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Research paper thumbnail of Kinematics and Design of a Leg Exoskeleton for Human Motion Assistance

Lecture notes in mechanical engineering, 2020

This paper presents studies concerning the design of exoskeletons for human lower limb motion ass... more This paper presents studies concerning the design of exoskeletons for human lower limb motion assistance. A study concerning the structural and mechanical design in Solid Works is presented on the first part of the paper. In the second part, a human gait motion analysis with goniometer sensors is performed. Also, a kinematic characterization for the new proposed leg exoskeleton is performed. The exoskeleton achieved design is based on a seven-link mechanism, designed to accomplish requirements of human locomotion. The kinematic computational model and the obtained results with plots in ADAMS software are presented. The obtained simulation results are compared with experimental human gait, and they are useful to characterize the exoskeleton motion and to demonstrate suitable performance for human rehabilitation purposes.

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Research paper thumbnail of Structural Design and Kinematics Study of a Mechanism for Quadruped Walking

Mechanisms and machine science, Aug 10, 2012

In this paper we present the kinematics model of a biomechanism which represent the legs of a fou... more In this paper we present the kinematics model of a biomechanism which represent the legs of a four legged mammal. The anterior and posterior legs are realized as plane mechanisms, with articulated bars. Each anterior leg has a complex structure with three closed contours, mean while each posterior leg has only two closed contours. Each mechanism is actuated by an electric motor. The geometric and kinematics modelling of the anterior leg mechanism is achieved by means of some vectorial and scalar equations. Also, the kinematics simulation is achieved by means of Msc.Adams software, considering as basis, the upper platform of each mechanism.

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Research paper thumbnail of Experimental Determination of the Loading Capacity of the Elastic Bracelet Assembly

IOP conference series, Jan 11, 2020

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Research paper thumbnail of Design, Kinematic and Structural Analysis of a Wheelchair Transmission

Annals of the Oradea University: Fascicle Management and Technological Engineering, 2015

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Research paper thumbnail of Children Locomotion Rehabilitation Test Bed Designed from Kinematic Considerations

Mechanisms and machine science, 2018

In this paper a locomotion system kinematic analysis is presented in order to obtain the hips, kn... more In this paper a locomotion system kinematic analysis is presented in order to obtain the hips, knees and ankles motions equations for a child walking. With these equations an experimental test bed was especially designed and simulated for locomotion rehabilitation by using MSC Adams. The whole human locomotion system was analyzed from kinematic viewpoints. Based on the obtained results a locomotion rehabilitation test bed prototype for a 7 years old child with locomotion disabilities was fabricated.

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Research paper thumbnail of Nonlinear Analysis of Temperature during Orthogonal Turning

Applied Mechanics and Materials, Mar 1, 2018

In this paper orthogonal turning processes are analyzed for different depth of cut. The temperatu... more In this paper orthogonal turning processes are analyzed for different depth of cut. The temperature during the machining is analyzed. The nonlinear dynamics of the orthogonal turning are characterized with fft, phase plane, time delay, embedding dimension and largest Lyapunov exponents. The Lyapunov exponents can be used as a dynamic stability index for the system. The largest Lyapunov exponents for two different depth of cut show the chaotic behavior of the system.

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Research paper thumbnail of Motion Evaluation Of A Wheelchair Prototype For Disabled People

Acta Universitatis Cibiniensis, Sep 1, 2015

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Research paper thumbnail of Dynamics of a Pumping System

Applied Mechanics and Materials, 2016

In this paper a pumping systems for deep extraction is simulated using SolidWorks and ADAMS. The ... more In this paper a pumping systems for deep extraction is simulated using SolidWorks and ADAMS. The elastic displacement of a point on the flexible moving cable is analyzed. The dynamics of the system is characterized with phase plane, Poincaré maps, and Lyapunov exponents. The Lyapunovexponents represent the dynamic stability of the system. The largest Lyapunov exponents for three different angular velocity show the chaotic motion of the system

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Research paper thumbnail of Experimental Investigations Concerning Friction from Threaded Assemblies

Applied Mechanics and Materials, Mar 1, 2018

In this research an experimental test rig and method to measure friction torque from screw-nut as... more In this research an experimental test rig and method to measure friction torque from screw-nut assemblies is presented. The experimental test rig uses to measure friction torque an elastic cylinder bush with strain gauge transducers. The frictions torque and the traction force from the threaded assembly are transmitted to the elastic cylinder bush and produce elastic deformations. The elastic cylinder is calibrated in order to establish a correlation between elastic deformation and force of solicitation. In order to measure the experimental data the MGCPlus data acquisition system is used. The experimental results obtained are presented, consisting in the dependence between friction torques and axial traction force occurred in the screw.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Virtual Prototyping of a Leg Exoskeleton for Human Persons with Neuromotor Deficiencies

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Simulation of a Pressure Controlled Hose Type Joint Using F.E.M

The paper presents a hose type joint which is controlled by pneumatic pressure. The joint is made... more The paper presents a hose type joint which is controlled by pneumatic pressure. The joint is made by a special type of hose with 2 or 4 pneumatic chambers. The hose has a particular construction in order to assure a strength discontinuity of the hose structure. That feature permits the bending of the hose proportional with the pneumatic pressure value.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Design and Simulation of a Mechanism for Human Leg Motion Assistance

Advanced Materials Research, Oct 1, 2014

Legs are the mostimportant elements for accomplishing human physical work includingtransportation... more Legs are the mostimportant elements for accomplishing human physical work includingtransportation or displacement. In this paper, a new mechanism for human legmotion assistance has been proposed for rehabilitation purposes. The structureof human leg and its motions have been used as inspiration for design purposes.For a simple control algorithm, the proposed mechanism for the legs mustgenerate an ovoid path of the foot, by uniform rotating of actuating crank. Themechanism must generate an approximately linear trajectory of foot duringpropulsion. The resulting linkage is a single degree-of-freedom (DOF)mechanism, which exemplifies the shape and movement of a human leg. Theactuator of the mechanism is located in the upper portion of the linkagesimilar to it in a human leg. The mechanism is simulated and tested to verifythe proposed synthesis. A 3D model of the proposed system has been elaboratedin Solid Works®, booth for design and simulation purposes. Simulation resultsshow that the proposed mechanism performs movements similar to those of a humanleg. Maple and Adams software packages are used to simulate and validate the usabilityof the mechanism. The proposed mechanism demonstrates that a one DOF closedloop mechanical linkage can be designed to the shape and movement of the bipedhuman walking apparatus. The proposed mechanism is suitable for the fabricationof legged robots. Proportions of the linkage are estimated utilizinganthropometric measures of the human leg.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Dynamic models to analyse the influence of the seat belt in a frontal collision

International Asia Conference on Informatics in Control, Automation and Robotics, Aug 28, 2017

Traffic accidents are influenced by various factors, yet, the highest impacting ones are related ... more Traffic accidents are influenced by various factors, yet, the highest impacting ones are related to vehicle impact speed and collision type. Also, passive vehicle safety systems play a significant role upon the injuries suffered by vehicle occupants. Under the circumstances, a particularly important aspect to consider when using such systems is the position of the vehicle's driver and its occupants. In what follows we embark upon an in-depth analysis in order to investigate the contact effects between the seat belt and the driver, under a dynamic regime. We set out to identify the variation of the kinematic and dynamic parameters for both the driver and the seat belt via comparative analyses between the normal position of the driver and some other out of position instances, considered as critical.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Modular Knee Orthosis FEM Analysis from Kinematic Considerations

Springer eBooks, Aug 10, 2012

In this paper a locomotion system kinematic analysis is presented in order to obtain the knee mot... more In this paper a locomotion system kinematic analysis is presented in order to obtain the knee motion equations for a child walking. With these equations a modular knee orthosis with flexible elements was designed and simulated through finite elements analysis with ADAMS. The whole human locomotion system is analyzed. Based on these results a modular knee orthosis prototype for a 7 years old child with locomotion disabilities was fabricated. The prototype was evaluated through experimental tests with CONTEMPLAS motion analysis equipment.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Case Study Regarding a New Knee Orthosis for Children with Locomotion Disabilities

Springer eBooks, 2015

This research addresses to children locomotion system for designing special orthosis and prosthes... more This research addresses to children locomotion system for designing special orthosis and prosthesis mechanical systems. The research aim is to obtain the motion laws developed by a child locomotion system and with these, the knee joint connection forces will be obtained through an analytical method for walking activity. These parameters are useful for an orthotic system design of a 7 years old child. The research is based on an experimental analysis developed with ultra high-speed video equipment on 20 children and a dynamic analysis by using Newton-Euler method completed with Lagrange multipliers. The obtained dynamic parameters are used as input data for a new knee orthosis design. Virtual simulations are performed by using MSC Adams which validates a new knee orthosis prototype.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Design and Motion Analysis of an Exoskeleton Robot for Assisting Human Locomotion

Mechanisms and machine science, Nov 10, 2020

In this paper, we present a new exoskeleton robot model designed to assist human locomotion. In t... more In this paper, we present a new exoskeleton robot model designed to assist human locomotion. In the first part of the paper are presented results concerning human gait motion analysis. The human gait experimental analysis is performed with goniometers sensors. In the second part of the paper are presented some structural solutions for exoskeleton robots, presented by first author in other published papers. Based on these achievements, new exoskeleton robot designs are proposed. The kinematic structure of the new robot is presented. The designed robot assures motion assistance for all the leg joints, and it is actuated with one drive. Based on this kinematic structure, the robot is modeled in the CAD design environment, SolidWorks, and the motion simulation is performed in the MSC.ADAMS simulation environment. The graphs of variation of the kinematic and dynamic parameters of the robot are presented. The exoskeleton motion results are compared with those from the human normal gait.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Kinematic and Dynamic Study of a Mechanism for a Vehicle Front and Rear Stabilizer Bars

In this paper, a method is described for theoretical and experimental studies of a front and rear... more In this paper, a method is described for theoretical and experimental studies of a front and rear stabilizer bars used on vehicle steering and suspension systems. Based on the fatigue experimental tests performed on a special test-bed, a complex actuation mechanism from the test bed structure will be analyzed. This mechanism through his kinematic and dynamic structure assures complete conditions for simulating the dynamic behavior in a complex mode of the rear stabilizer bar used on a vehicle steering and suspension structures.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Kinematic and Dynamic Analysis of a Mechanism for Assisting Human Locomotion

Atlantis highlights in engineering, 2023

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Design, Manufacture and Testing of a S Type Force Transducer

Applied Mechanics and Materials, Feb 1, 2020

This paper presents the methodology of designing a transducer for the experimental measurement of... more This paper presents the methodology of designing a transducer for the experimental measurement of forces. For this purpose, an elastic element of the shape of the letter "S" is designed and manufactured. The elastic element designed in SolidWorks is subjected to virtual testing, using the finite element method in ANSYS. After validating the results obtained considering the maximum values ​​of the stresses that appear for the nominal load, the experimental model of the transducer is realized. The central part of the elastic element behaves like a fixed double beam subjected to bend by the measuring force. On this beam are bonded strain gauge transducers, which measure the deformations produced by bending. The transducer is calibrated, in order to obtain the calibration constant, based on the obtained characteristic, that is, the dependence of the specific strain-deformation and force. The transducer thus constructed can be used in force measurement applications.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A leg exoskeleton command unit for human walking rehabilitation

This paper addresses attention to a low-cost command and control unit design which will be used o... more This paper addresses attention to a low-cost command and control unit design which will be used on a leg exoskeleton especially designed for persons with neuro-locomotor disorders. The research aim is to obtain an user friendly interface for programming two linear actuators used on a leg exoskeleton structure. For achieving this, experimental analyses were performed in order to validate the leg exoskeleton prototype and also the proposed command and control electronic unit.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Kinematics and Design of a Leg Exoskeleton for Human Motion Assistance

Lecture notes in mechanical engineering, 2020

This paper presents studies concerning the design of exoskeletons for human lower limb motion ass... more This paper presents studies concerning the design of exoskeletons for human lower limb motion assistance. A study concerning the structural and mechanical design in Solid Works is presented on the first part of the paper. In the second part, a human gait motion analysis with goniometer sensors is performed. Also, a kinematic characterization for the new proposed leg exoskeleton is performed. The exoskeleton achieved design is based on a seven-link mechanism, designed to accomplish requirements of human locomotion. The kinematic computational model and the obtained results with plots in ADAMS software are presented. The obtained simulation results are compared with experimental human gait, and they are useful to characterize the exoskeleton motion and to demonstrate suitable performance for human rehabilitation purposes.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Structural Design and Kinematics Study of a Mechanism for Quadruped Walking

Mechanisms and machine science, Aug 10, 2012

In this paper we present the kinematics model of a biomechanism which represent the legs of a fou... more In this paper we present the kinematics model of a biomechanism which represent the legs of a four legged mammal. The anterior and posterior legs are realized as plane mechanisms, with articulated bars. Each anterior leg has a complex structure with three closed contours, mean while each posterior leg has only two closed contours. Each mechanism is actuated by an electric motor. The geometric and kinematics modelling of the anterior leg mechanism is achieved by means of some vectorial and scalar equations. Also, the kinematics simulation is achieved by means of Msc.Adams software, considering as basis, the upper platform of each mechanism.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Experimental Determination of the Loading Capacity of the Elastic Bracelet Assembly

IOP conference series, Jan 11, 2020

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Design, Kinematic and Structural Analysis of a Wheelchair Transmission

Annals of the Oradea University: Fascicle Management and Technological Engineering, 2015

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Children Locomotion Rehabilitation Test Bed Designed from Kinematic Considerations

Mechanisms and machine science, 2018

In this paper a locomotion system kinematic analysis is presented in order to obtain the hips, kn... more In this paper a locomotion system kinematic analysis is presented in order to obtain the hips, knees and ankles motions equations for a child walking. With these equations an experimental test bed was especially designed and simulated for locomotion rehabilitation by using MSC Adams. The whole human locomotion system was analyzed from kinematic viewpoints. Based on the obtained results a locomotion rehabilitation test bed prototype for a 7 years old child with locomotion disabilities was fabricated.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Nonlinear Analysis of Temperature during Orthogonal Turning

Applied Mechanics and Materials, Mar 1, 2018

In this paper orthogonal turning processes are analyzed for different depth of cut. The temperatu... more In this paper orthogonal turning processes are analyzed for different depth of cut. The temperature during the machining is analyzed. The nonlinear dynamics of the orthogonal turning are characterized with fft, phase plane, time delay, embedding dimension and largest Lyapunov exponents. The Lyapunov exponents can be used as a dynamic stability index for the system. The largest Lyapunov exponents for two different depth of cut show the chaotic behavior of the system.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Motion Evaluation Of A Wheelchair Prototype For Disabled People

Acta Universitatis Cibiniensis, Sep 1, 2015

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Dynamics of a Pumping System

Applied Mechanics and Materials, 2016

In this paper a pumping systems for deep extraction is simulated using SolidWorks and ADAMS. The ... more In this paper a pumping systems for deep extraction is simulated using SolidWorks and ADAMS. The elastic displacement of a point on the flexible moving cable is analyzed. The dynamics of the system is characterized with phase plane, Poincaré maps, and Lyapunov exponents. The Lyapunovexponents represent the dynamic stability of the system. The largest Lyapunov exponents for three different angular velocity show the chaotic motion of the system

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Experimental Investigations Concerning Friction from Threaded Assemblies

Applied Mechanics and Materials, Mar 1, 2018

In this research an experimental test rig and method to measure friction torque from screw-nut as... more In this research an experimental test rig and method to measure friction torque from screw-nut assemblies is presented. The experimental test rig uses to measure friction torque an elastic cylinder bush with strain gauge transducers. The frictions torque and the traction force from the threaded assembly are transmitted to the elastic cylinder bush and produce elastic deformations. The elastic cylinder is calibrated in order to establish a correlation between elastic deformation and force of solicitation. In order to measure the experimental data the MGCPlus data acquisition system is used. The experimental results obtained are presented, consisting in the dependence between friction torques and axial traction force occurred in the screw.

Bookmarks Related papers MentionsView impact